/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "oled.h"
#include "bmp.h"
#include "stdio.h"
#include "jy61p.h"
#include "motor.h"

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
uint8_t g_oledstring[20];
extern uint8_t g_usart2_receivedata;
extern uint8_t g_usart1_receivedata;
float current_yaw =0;   // 当前偏航角（度）
float gyro_z = 0.0;         // 当前偏航角速度
float target_yaw = 0.0;     // 期望车头朝向
int forward_speed = 500;    // 前进基速（单位：Hz，步进电机脉冲频率）

int left_output, right_output;
/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_USART2_UART_Init();
  MX_TIM1_Init();
  MX_TIM2_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */
  HAL_UART_Receive_IT(&huart1,&g_usart1_receivedata,1);  //串口1接收数据中断
  current_yaw =Yaw;
  OLED_Init();
  OLED_ColorTurn(0);//0正常显示，1 反色显示
  OLED_DisplayTurn(0);//0正常显示 1 屏幕翻转显示
  HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1);
  HAL_TIM_PWM_Start(&htim2,TIM_CHANNEL_1);

    


  /*
        接口说明
   STM32      外设
    PA2-----JY61P的RX----上位机配置波特率115200
    PA3-----JY61P的TX
    PB8-----OLED的SCL
    PB9-----OLED的SDA
*/
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
      current_yaw = Yaw;
      target_yaw=0;
      
      sprintf((char*)g_oledstring,"Roll:%6.2f",Roll);//oled显示
      OLED_ShowString(0,0,g_oledstring,16,1);//这个是oled驱动里面的，是显示位置的一个函数，
      sprintf((char*)g_oledstring,"Pitch:%6.2f",Pitch);//oled显示
      OLED_ShowString(0,16,g_oledstring,16,1);//这个是oled驱动里面的，是显示位置的一个函数，
      sprintf((char*)g_oledstring,"Yaw:%6.2f",Yaw);//oled显示
      OLED_ShowString(0,32,g_oledstring,16,1);//这个是oled驱动里面的，是显示位置的一个函数，
      OLED_Refresh();
      
      turn_control(current_yaw, gyro_z, target_yaw, forward_speed, &left_output, &right_output);//转向环输出计算

        // === 2. 把差速输出到左右轮 ===
        // 左轮 PUL: TIM1_CH1 (PA8)， DIR: PA4
        StepMotor_SetSpeedAndDir(&htim1, TIM_CHANNEL_1,1,left_output);

        StepMotor_SetSpeedAndDir(&htim2, TIM_CHANNEL_1,1,right_output);
        // 右轮 PUL: TIM2_CH1 (PA0)， DIR: PA5
        
//      HAL_GPIO_TogglePin(LED0_GPIO_Port,LED0_Pin);
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
	
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
